Vehicles and methods for magnetically managing legs of rail-based photovoltaic modules during installation

ABSTRACT

An exemplary method for installing at an installation site a photovoltaic module including a panel and support legs includes disposing the photovoltaic module over a support surface such that the support legs are in a stowed position; lifting the photovoltaic module from a support surface while engaging a magnetic field with the support legs so as to maintain the support legs in the stowed position; disengaging the magnetic field from the support legs of the lifted photovoltaic module so as to release the support legs from the stowed position to an installation position in which the support legs are rotated downwards relative to the stowed position; and lowering the photovoltaic module to the installation site with the support legs in the installation position so as to install the photovoltaic module at the installation site, the support legs supporting the panel at the installation site.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation of U.S. patent application Ser. No.14/481,678, filed Sep. 9, 2014, now U.S. Pat. No. 9,453,660, whichclaims priority to U.S. Provisional Patent Application No. 61/876,666,filed on Sep. 11, 2013, the entire contents of these two applicationsbeing incorporated by reference herein.

BACKGROUND OF THE INVENTION

The present invention is directed to installation of photovoltaicmodules according to some embodiments. More particularly, certainembodiments of the invention provide vehicles and methods for managinglegs of photovoltaic modules during installation. Merely by way ofexample, the invention has been applied to magnetically managing legs ofrail-based photovoltaic modules during installation. But it would berecognized that the invention has a much broader range of applicability.

Photovoltaics convert sunlight into electricity, providing a desirablesource of clean energy. FIG. 1 is a simplified diagram of a conventionalphotovoltaic array. The photovoltaic array 100 includes strings 1, 2, 3,4, . . . n, where n is a positive integer larger than or equal to 1.Each string includes photovoltaic (PV) modules (e.g., solar panels) thatare connected in series. The photovoltaic array 100 is connected to acentral inverter 110, which provides an alternating current (AC)connection to a power grid 120. FIG. 2 is a simplified diagram of aconventional photovoltaic module. The photovoltaic (PV) module 210includes a junction box 220 on the backside of the PV module 210.

The installation of photovoltaic arrays often presents logisticalchallenges. Not only does the site for the photovoltaic array need to beproperly prepared, but large quantities of materials also need to betransported to and within the site. For example, the site for thephotovoltaic array may have existing vegetation that would interferewith the installation and operation of the photovoltaic array. Thisvegetation usually has to be cleared. The site may also have uneventerrain that usually requires extensive grading and earth moving. Oncethe site is prepared, it is then often necessary to build an extensiveinfrastructure on which the strings of PV modules 210 are to be affixed.The PV modules 210 are then moved into position, affixed to thestructure, and interconnected so that power can be delivered to thepower grid 120. Each of these operations can be time-consuming andexpensive.

Hence, it is highly desirable to improve techniques for installation ofphotovoltaic arrays.

SUMMARY OF THE INVENTION

The present invention is directed to installation of photovoltaicmodules in certain embodiments. More particularly, certain embodimentsof the invention provide vehicles and methods for managing legs ofphotovoltaic modules during installation. Merely by way of example, theinvention has been applied to magnetically managing legs of rail-basedphotovoltaic modules during installation. But it would be recognizedthat the invention has a much broader range of applicability.

According to one embodiment, a method for installing at an installationsite a photovoltaic module including a panel and support legs includesdisposing the photovoltaic module over a support surface such that thesupport legs are in a stowed position; lifting the photovoltaic modulefrom a support surface while engaging a magnetic field with the supportlegs so as to maintain the support legs in the stowed position;disengaging the magnetic field from the support legs of the liftedphotovoltaic module so as to release the support legs from the stowedposition to an installation position in which the support legs arerotated downwards relative to the stowed position; and lowering thephotovoltaic module to the installation site with the support legs inthe installation position so as to install the photovoltaic module atthe installation site, the support legs supporting the panel at theinstallation site.

According to another embodiment, a vehicle for installing at aninstallation site a photovoltaic module including a panel and aplurality of support legs includes a support surface over which thephotovoltaic module is disposable such that the support legs are in astowed position; a lift mechanism; and a suction and magnet assemblyincluding a magnet. The lift mechanism and the suction and magnetassembly can be configured to lift the photovoltaic module from thesupport surface while engaging a magnetic field of the magnet with thesupport legs so as to maintain the support legs in the stowed position.The suction and magnet assembly can be configured to disengage themagnetic field from the support legs of the lifted photovoltaic moduleso as to release the support legs from the stowed position to aninstallation position in which the support legs are rotated downwardsrelative to the stowed position. The lift mechanism and the suction andmagnet assembly can be configured to lower the photovoltaic module tothe installation site with the support legs in the installation positionso as to install the photovoltaic module at the installation site, thesupport legs supporting the panel at the installation site.

Depending upon the embodiment, one or more benefits may be achieved.These benefits and various additional objects, features, and advantagesof the present invention can be fully appreciated with reference to thedetailed description and accompanying drawings that follow.

BRIEF DESCRIPTION OF DRAWINGS

FIG. 1 is a simplified diagram of a conventional photovoltaic array.

FIG. 2 is a simplified diagram of a conventional photovoltaic module.

FIGS. 3A-3B are simplified diagrams showing perspective views of avehicle for installing a photovoltaic module, according to certainembodiments.

FIGS. 4A-4I are simplified diagrams showing perspective views of certainportions of the vehicle of FIGS. 3A-3B during installation of aphotovoltaic module, according to certain embodiments.

FIG. 5 illustrates steps in an exemplary method for installing aphotovoltaic module, according to certain embodiments.

DETAILED DESCRIPTION

The present invention is directed to installation of photovoltaicmodules in certain embodiments. More particularly, certain embodimentsof the invention provide vehicles and methods for managing legs ofphotovoltaic modules during installation. Merely by way of example, theinvention has been applied to magnetically managing legs of rail-basedphotovoltaic modules during installation. But it would be recognizedthat the invention has a much broader range of applicability.

Illustratively, the present vehicles and methods can be used forinstalling rail-based arrays of photovoltaic modules. Such arrays can,in some embodiments, include an elongated rail including first andsecond support surfaces and at least one mounting surface disposedbetween the first and second support surfaces. An array of thephotovoltaic modules can be coupled to the first mounting surface andraised relative to the first and second support surfaces in a mannersuch as provided herein. Optionally, a plurality of such rails can beprovided, and a corresponding array of photovoltaic modules can becoupled to at least one mounting surface of each such rail in a mannersuch as provided herein. For further details on exemplary rail-basedarrays of photovoltaic modules, see commonly assigned U.S. PatentPublication Nos. 2011/0284057 and 2013/0068275, the entire contents ofboth of which are incorporated by reference herein.

Under one aspect of the present invention, the installation of an arrayof photovoltaic modules can be at least partially automated usingsuitably configured installation vehicles and methods for photovoltaicmodules, such as solar panels. For example, a plurality of photovoltaicmodules, each of which includes a panel and support legs, can bedisposed over a support surface, e.g., a panel pickup area, of theinstallation vehicle. The support legs of each of the photovoltaicmodules can be in a stowed position, for example, can be disposedunderneath and substantially parallel to the panel of the correspondingmodule. The vehicle can transport the plurality of photovoltaic modulesto a location sufficiently close to an installation site at which themodules are to be installed. For example, the vehicle can include wheelsor treads that can travel along first and second support surfaces of anelongated rail such as described herein or in U.S. Patent PublicationNos. 2011/0284057 and 2013/0068275. The vehicle then can lift a firstone of the photovoltaic modules from the support surface while engaginga magnetic field with the support legs of that module so as to maintainthe support legs in the stowed position. At any suitable time after thefirst photovoltaic module is sufficiently clear of the otherphotovoltaic modules and sufficiently clear of the support surface, themagnetic field can be disengaged from the support legs of the liftedphotovoltaic module so as to release the support legs of that modulefrom the stowed position to an installation position in which thesupport legs are rotated downwards relative to the stowed position. Thevehicle then can lower the photovoltaic module to the installation sitewith the support legs in the installation position so as to install thephotovoltaic module at the installation site. The support legs cansupport the panel of that photovoltaic module at the installation site.One nonlimiting example of an installation site is a predeterminedlocation along an elongated rail.

FIGS. 3A-3B are simplified diagrams showing perspective views of avehicle for installing a photovoltaic module, according to certainembodiments. These diagrams are merely examples, which should not undulylimit the scope of the claims. One of ordinary skill in the art wouldrecognize many variations, alternatives, and modifications.

Installation vehicle 300 illustrated in FIG. 3A, e.g., installationvehicle for photovoltaic modules, such as solar panels, includes asuitable support structure 310, e.g., a plurality of support trusses310. Installation vehicle 300 also can include suitable wheels, tracks,or caterpillar treads 320 and a motor (not specifically illustrated)coupled to support structure 310 and that facilitate locomotion ofvehicle 300, e.g., along first and second support surfaces of anelongated rail upon which installation vehicle 300 can be, but need notnecessarily, be disposed. Installation vehicle 300 also can include asupport surface 330 coupled to support structure 310 and over which oneor a plurality of photovoltaic modules are disposable such that supportlegs of the module(s) are in a stowed position, e.g., as described ingreater detail below with reference to FIGS. 4A-4B. The support surface330 can be sized so as to accommodate a plurality of photovoltaicmodules. Illustratively, the photovoltaic modules can be stacked uponone another over the support surface. Alternatively, or additionally,the photovoltaic modules can be disposed adjacent to one another overthe support surface. For example, first and second stacks, eachincluding a plurality of the photovoltaic modules, can be disposedadjacent to one another over the support surface. As such, a pluralityof photovoltaic modules, having relatively small footprint, efficientlycan be transported to the installation site. In one illustrativeembodiment, support surface 330 includes a planar surface characterizedby lateral dimensions that are at least as large as lateral dimensionsof the photovoltaic modules that are to be transported thereby, and isconfigured to support the weight of a stack of the photovoltaic modules,e.g., the weight of a stack of 5 or more photovoltaic modules, or theweight of a stack of 10 or more photovoltaic modules. In anotherillustrative embodiment, support surface 330 includes a planar surfacecharacterized by lateral dimensions that are at least twice as large aslateral dimensions of the photovoltaic modules that are to betransported thereby, and is configured to support the weight of multiplestacks of the photovoltaic modules, e.g., the weight of two or morestacks each of 5 or more photovoltaic modules, or the weight of two ormore stacks each of 10 or more photovoltaic modules. Exemplary materialsthat can be included in support surface 330 include wood, metal, andsturdy, cushioning materials such as rubber.

Installation vehicle 300 also can include lift mechanism 340 and suctionand magnet assembly 350 that are configured to lift a photovoltaicmodule from support surface 330 while engaging a magnetic field ofmagnet 352 with the support legs of that photovoltaic module so as tomaintain the support legs in a stowed position, e.g., as described ingreater detail below with reference to FIGS. 4C-4D. Lift mechanism 340and suction and magnet assembly 350 further can be configured todisengage the magnetic field from the support legs of the liftedphotovoltaic module so as to release the support legs from the stowedposition to an installation position in which the support legs arerotated downwards relative to the stowed position, e.g., as described ingreater detail below with reference to FIGS. 4G-4H. Lift mechanism andsuction and magnet assembly 350 further can be configured to lower thatphotovoltaic module to an installation site with the support legs in theinstallation position so as to install the photovoltaic module at theinstallation site, the support legs supporting the panel of that moduleat the installation site, e.g., as described below with reference toFIG. 4I. Additionally, vehicle 300 also can include gantry 360 to whichlift mechanism 340 is coupled and that is configured to horizontallymove the lift mechanism 340 and suction and magnet assembly 350 coupledthereto relative to support surface 330. For example, in oneillustrative embodiment, lift mechanism 340 can include a scissor liftcomponent including a first end coupled to gantry 360 and a second endcoupled to suction and magnet assembly 350, such that the suction andmagnet assembly is coupled to gantry 360 via the lift mechanism, and isextendible and retractable so as to controllably lift and lower suctionand magnet assembly 350 throughout a range of vertical positionsrelative to support surface 330 suitable for lifting a photovoltaicmodule from support surface 330 and lowering that module to aninstallation site. It should be appreciated that a scissor liftcomponent is only one example of a mechanism that can couple suction andmagnet assembly 350 to gantry 360 and can be used to controllably liftand lower suction and magnet assembly 350 throughout a range of verticalpositions relative to support surface 330 suitable for lifting aphotovoltaic module from support surface 330 and lowering that module toan installation site. Additionally, gantry 360 can be configured tohorizontally move lift mechanism 340 and suction and magnet assembly 350from a position over support surface 330 to a position over aninstallation site. Further details of exemplary operations of liftmechanism 340, suction and magnet assembly 350, and gantry 360 areprovided further below with reference to FIGS. 4A-4I.

Additionally, certain details of an exemplary suction and magnetassembly 350 are illustrated in FIG. 3B, e.g., certain details ofmagnetic actuation system via cable, in horizontal position. Suction andmagnet assembly 350 includes one or more suction cups configured tosecurely and reversibly engage a panel of a photovoltaic module, e.g.,first, second, third, and fourth suction cups 351, and coupled to frame355 via respective struts 356. For example, based upon lift mechanism340 lowering suction and magnet assembly 350 to a suitable verticalposition relative to a photovoltaic module disposed on support surface330, suction cups 351 can engage and adhere to the panel of thephotovoltaic module, e.g., as described in greater detail below withreference to FIG. 4C. Lift mechanism 340 can be configured so as tosubsequently lift suction and magnet assembly 350 vertically away fromsupport surface 330 so as to lift the photovoltaic module from supportsurface 330, and thereafter to lower suction and magnet assembly, andthe photovoltaic module adhered thereto, to an installation site. Itshould be appreciated that a suction cup is only one example of agripping mechanism that can securely and releasably engage aphotovoltaic module so as to facilitate lifting the module off ofsupport surface 330 and lowering the module to an installation site.

As illustrated in the exemplary embodiment of FIG. 3B, suction andmagnet assembly 350 also includes one or more magnets 352, e.g., twomagnets, configured to generate magnetic fields that engage support legsof a photovoltaic module so as to maintain the support legs in a stowedposition. Each magnet 352 respectively can be coupled to frame 355 viaone or more struts 353. Optionally, strut(s) 353 are coupled to anactuation system (not specifically illustrated) via cable(s) so as tofacilitate engagement or disengagement of the magnetic field ofmagnet(s) 352 with the support legs of the photovoltaic module.Additionally, or alternatively, and as described in greater detail belowwith reference to FIGS. 4G-4H, suction and magnet assembly 350 can berotated so as to cause disengagement of the magnetic field of magnet(s)352 with the support legs of the photovoltaic module.

FIGS. 4A-4I are simplified diagrams showing perspective views of certainportions of the vehicle of FIGS. 3A-3B during installation of aphotovoltaic module, according to certain embodiments. These diagramsare merely examples, which should not unduly limit the scope of theclaims. One of ordinary skill in the art would recognize manyvariations, alternatives, and modifications. According to certainembodiments, FIGS. 3A-3B and 4A-4I show one or more mechanisms that useone or more magnets to manage folding and unfolding one or more legs ofone or more photovoltaic modules (e.g., one or more solar panels).

FIG. 4A illustrates an exemplary support surface 330, e.g., panel pickuparea, upon which photovoltaic module 400 is disposed. Photovoltaicmodule 400 can include panel 410, a plurality of support legs 401 arerotatable between a stowed position and an installation position, notvisible in FIG. 4A, and optional frame 411, e.g., a metal, glass, orplastic frame that substantially surrounds panel 410 and provides arecess within which support legs 401 can be disposed when the legs arein the stowed position. For example, in the embodiment illustrated inFIG. 4A, support legs 401 are not visible because they are in anexemplary stowed position e.g., are rotated to a position in which thelegs are beneath panel 410 and substantially parallel to panel 410, andoptionally disposed within a recess defined by frame 411. The stowedposition can increase a packing density of photovoltaic modules 400. Forexample, based upon the support legs 401 of photovoltaic module 400being in the stowed position, a vertical dimension of photovoltaicmodule 400 can be substantially the same as a vertical dimension ofpanel 410 or of optional frame 411, and a lateral dimension ofphotovoltaic module 400 can be substantially the same as a verticaldimension of panel 410 or of optional frame 411. That is, in the stowedposition, support legs 401 need not necessarily add any height or widthto panel 410 or to optional frame 411.

Additionally, as noted further above, support surface 330 can be sizedso as to accommodate a plurality of photovoltaic modules 400. Forexample, in the exemplary embodiment illustrated in FIG. 4A, supportsurface 330 can be seen to include lateral dimensions selected so as toaccommodate a plurality of photovoltaic modules 400 disposed directlyupon the surface of the support surface, e.g., can accommodate twophotovoltaic modules 400 disposed side by side on support surface 330.Additionally, frame 310 can define a vertical dimension over supportsurface 330 that can accommodate one or more stacks of photovoltaicmodules 400, e.g., can accommodate two stacks of photovoltaic modules400 disposed side by side on support surface 330. Based upon the supportlegs 401 of each such photovoltaic module 400 being in the stowedposition, photovoltaic modules 400 readily can be stacked on top of oneanother with reduced vertical dimension as compared to the support legsbeing in an installation position at that time. Illustratively, eachsuch photovoltaic module 400 in the stack sequentially can be liftedfrom support surface 330 with the legs maintained in the stowed positionusing a magnetic field, the legs released to an installation position bydisengaging the magnetic field, and the photovoltaic module then loweredto an installation site.

As illustrated in FIG. 4B, suction and magnet assembly 350 ispositionable directly over photovoltaic module 400 using gantry 360 andlift mechanism 340, e.g., panel being picked up by suction and magnetassembly on gantry. Additionally, as illustrated in FIG. 4C, liftmechanism 340 is extendible so as to bring suction cups 351 and magnet352 of suction and magnet assembly 350 into contact with panel 410 ofphotovoltaic module 400, e.g., magnet touching panel. Responsive to suchcontact, suction cups 351 securely adhere to panel 410. Additionally,magnet(s) 352 can be brought into sufficient proximity to panel 410 asto exert a sufficient magnetic field on support legs 401 as to maintainthe support legs in the stowed position. In one illustrative embodiment,the length and position of struts 353 are selected such that adhesion ofsuction cups 351 to panel 410 places magnet(s) 352 in contact with anupper surface of panel 410, e.g., as is illustrated in FIG. 4C. Becausesupport legs 401 are disposed beneath and substantially parallel topanel 410, magnet(s) 352 can exert respective magnetic fields uponsupport legs 401 through panel 410 so as to maintain those legs in thestowed position. In one embodiment, the magnet is used to support (e.g.,attract) legs on the underside of solar panel while the panel is moved,as shown in FIG. 4D, e.g., folding legs supported under panel.

For example, lift mechanism 340 is retractable so as to lift suction andmagnet assembly 350, and photovoltaic module 400 adhered thereto, fromsupport surface 330. As can be seen in the illustrative embodiment ofFIG. 4D, legs 401 of lifted photovoltaic module 400 are substantiallyparallel to panel 410, e.g., due to engagement of legs 401 with magneticfield(s) of magnet(s) 352. Also, as can be seen in the illustrativeembodiment of FIG. 4D, photovoltaic module 400 can include one or moreleg mounts 402 that are coupled to panel 410 or to frame 411, or to bothpanel 410 and frame 411, to which one or more support legs 401 can bemovably coupled. In one example, each leg mount 402 includes first andsecond apertures into which first and second support legs 401respectively are inserted so as to define joints about which the firstand second support legs respectively can be rotated. Illustratively, thefirst support leg 401 can be disposed on a first lateral side of legmount 402 and the second support leg 401 can be disposed on a secondlateral side of leg mount 402, such that the first and second supportlegs 401 simultaneously can be maintained in a stowed position, e.g.,substantially parallel to panel 410. In the embodiment of FIG. 4D,photovoltaic module 410 includes two such leg mounts 402, each includingfirst and second apertures into which first and second support legs 401are rotatably inserted.

Installation vehicle 300 is configured so as to move lifted photovoltaicmodule 400 to any suitable position while legs 401 are in the stowedposition. In one example, such as illustrated in FIG. 4E, e.g., paneltraveling over type of vehicle, panel legs in stowed position, liftmechanism 340 can be partially or fully retracted so as to verticallylift photovoltaic module 400 to a suitable distance above supportsurface 330 and any other obstacles, and gantry 360 can be actuated soas to horizontally move suction and magnet assembly 350 relative tosupport surface 330. Additionally, or alternatively, installationvehicle 300 can move, e.g., along vehicle support surfaces of anelongated rail, so as to horizontally move suction and magnet assembly350 relative to support surface 330. Although not shown in FIG. 4E, incertain embodiments, magnet(s) 352 and suction cup(s) 351 can contactpanel 410 of photovoltaic module 400 during the lifting and horizontalmovement. Additionally, as illustrated in FIG. 4F, e.g., paneldescending horizontally, lift mechanism 340 can be partially or fullyextended at any suitable horizontal location so as to lower liftedphotovoltaic module 400 to a suitable height. Magnet(s) 352 and suctioncup(s) 351 can contact panel 410 of photovoltaic module 400 during thelowering.

Suction and magnet assembly 350 further can be configured so as todisengage the magnetic field from support legs 401 of liftedphotovoltaic module 400 so as to release the support legs from thestowed position to an installation position in which the support legsare rotated downwards relative to the stowed position. In one exemplaryembodiment, responsive to disengagement of the magnetic field, thesupport legs swing downwards under the force of gravity from the stowedposition to an installation position, e.g., a position in which the legsare oriented substantially vertically. In one example, as illustrated inFIG. 4G, e.g., panel rotating to installation angle, suction and magnetassembly 350 can be configured to rotate panel 410 of photovoltaicmodule 400 to an installation angle ϕ. For example, suction and magnetassembly 350 can include actuator 354 configured to rotate frame 355about axis 358. Suction cups 351 can maintain contact and adhesion topanel 410 during such rotation. However, in certain embodiments, suchrotation can move support legs 401 away from magnet(s) 352, e.g., canmove magnet(s) 352 out of contact with panel 410, and as such can causedisengaging of magnet(s) 352 from support legs 401. However, it shouldbe appreciated that such rotation need not necessarily be required todisengage the magnetic field from support legs 401. For example, such asillustrated in FIG. 4H, alternatively to rotating the panel, or inaddition to rotating the panel, in certain embodiments, suction andmagnet assembly 350 can be actuatable so as to move magnet(s) 352 awayfrom support legs 401 so as to cause disengaging of magnet(s) 352 fromsupport legs 401, e.g., by suitably controlling rotation of struts 353via cable(s) 357 illustrated in FIG. 3B so as to move magnet(s) 352 outof contact with panel 400 and a suitable distance from support legs 401such that support legs no longer are maintained in the stowed position.The embodiment of FIG. 4H illustrates, e.g., magnet mechanism related torotation of panel. In one embodiment, such as shown in FIG. 4H, magnetis no longer touching surface of panel in response to panel rotation. Inanother embodiment, magnet mechanism on separate actuator moves awayfrom panel to disengage with legs in response to panel rotation.

Lift mechanism 340 and suction and magnet assembly 350 further can beconfigured so as to lower photovoltaic module 400 to an installationsite with support legs 401 in the installation position so as to installthe photovoltaic module at the installation site, the support legssupporting the panel at the installation site. One nonlimiting exampleof an installation site is a predetermined location along an elongatedrail, e.g., an elongated rail including first and second vehicle supportsurfaces along which vehicle 300 can be disposed and can move along, andat least one mounting surface disposed between the first and secondvehicle support surfaces. In certain embodiments, the at least onemounting surface can include at least one recess configured to receivedistal ends of legs 401. For example, the installation site can includea concrete rail including grooves to which support legs 401 are alignedduring the lowering. In one example, such as illustrated in FIG. 4I,e.g., legs having been released from storage position under panel,having swung down, lift mechanism 340 can be partially or fully extendedso as to vertically lower photovoltaic module 400 towards and intocontact with the installation site. For example, lowering photovoltaicmodule 400 can cause legs 401 to become disposed upon at least onemounting surface of an elongated rail, e.g., respectively can insertdistal ends of legs 401 of photovoltaic module 400 into one or morerecesses of the elongated rail. Although not shown in FIG. 4I, incertain embodiments, suction cup(s) 351 can contact and adhere to panel410 of photovoltaic module 400 during the lowering, and can bedisengaged from panel 410 upon or after photovoltaic module 400contacting the installation site. Additionally, in one exemplaryembodiment, optional guide assembly 450 aligns legs 401 to grooves in aconcrete rail or other elongated rail.

Note that each of the various actuators and motors that can be includedin installation vehicle 300 optionally can be powered by a common powersource as one another, e.g., each can be powered by a common solarpanel, a common battery of vehicle 300, or the engine of vehicle 300, orany suitable combination thereof. Alternatively, some of the actuatorsand motors can share a first common power source with one another, andothers of the actuators an motors can share a second common power sourcewith one another. Alternatively, each actuator and each motor caninclude its own power source.

Additionally, note that each of the various actuators and motors thatcan be included in installation vehicle 300 optionally can be controlledby a common controller as one another, e.g., each can be suitablyconnected to (such as by respective cabling) and controlled by a commoncontroller of vehicle 300 that can be in wired or wireless communicationwith an interface by which a user can enter instructions that can betransmitted to the controller for implementation. The controller caninclude a memory and a processor coupled to the memory, The memory canstore instructions for causing the processor to receive the instructionsfrom the remote computer and then suitably to implement theinstructions. Illustratively, such instructions can include, but are notlimited to, one or more of the following: rules defining expectedposition(s) of photovoltaic module(s) 400 over support surface 330;rules defining vertical positions to which lift mechanism 340 shouldmove suction and magnet assembly 350, e.g., so as to lift a photovoltaicmodule 400 from support surface 330 or so as to lower a photovoltaicmodule to an installation site; rules defining steps at which magnet(s)352 should engage a magnetic field from support legs 401; rules definingsteps at which magnet(s) 352 should disengage a magnetic field fromsupport legs 401; rules defining horizontal positions to whichinstallation vehicle 300 should move; rules defining horizontalpositions to which gantry 360 should move lift mechanism 340 and suctionand magnet assembly 350, e.g., so as to lift a photovoltaic module 400from support surface 330 or so as to lower a photovoltaic module to aninstallation site; rules defining steps at which frame 355 of suctionand magnet assembly 350 should be rotated; and rules defining steps atwhich suction cup(s) 351 of suction and magnet assembly 350 should bedisengaged from panel 410 of a photovoltaic module 400.

In one illustrative, nonlimiting example, the controller suitably isprogrammed so as to position lift mechanism 340 and suction and magnetassembly 350 horizontally over a photovoltaic module 400 disposed onsupport surface 330 using gantry 360, to position suction and magnetassembly 350 vertically so as to contact suction cup(s) 351 andmagnet(s) 352 with panel 410 of that photovoltaic module using liftmechanism 340, to position suction and magnet assembly 350 vertically soas to raise that photovoltaic module to a sufficient height over supportsurface 330 and any obstacles using lift mechanism 340, to position liftmechanism 340 and suction and magnet assembly 350 vertically so as tolower that photovoltaic module to an installation site, and to disengagemagnet(s) 352 from support legs 401 of that panel at any suitable time,e.g., prior to lowering that photovoltaic module to the installationsite so that the legs are in an installation position and can supportthe photovoltaic module at the installation site.

Additionally, note that installation vehicle 300 suitably can be used soas to maintain an array of photovoltaic modules, e.g., so as to replaceone or more photovoltaic modules of an array, and need not necessarilybe limited to newly installing photovoltaic modules.

FIG. 5 illustrates steps in an exemplary method for installing aphotovoltaic module, according to certain embodiments. This diagram ismerely an example, which should not unduly limit the scope of theclaims. One of ordinary skill in the art would recognize manyvariations, alternatives, and modifications.

Method 500 illustrated in FIG. 5 includes disposing a photovoltaicmodule, including panel and support legs, over a support surface suchthat the support legs are in a stowed position (501). For example, asillustrated in FIG. 4A, photovoltaic module 400 including panel 410 andsupport legs 401 can be disposed on support surface 330 of installationvehicle 300. Support legs 401 can be in a stowed position, e.g., can berotated so as to be disposed underneath and substantially parallel topanel 410, e.g., can be disposed in a recess defined by frame 411.Additionally, as noted above, a plurality of photovoltaic modules can bedisposed over the support surface, e.g., can be stacked upon one anotheror disposed side-by-side relative to one another, or both stacked anddisposed side-by-side. The photovoltaic module(s) 400 can be placedmanually or automatically upon support surface 330. In one illustrative,nonlimiting example, a pallet of stacked photovoltaic modules 400 can bebrought sufficiently close to installation vehicle 300, or vice versa,and installation vehicle 300 can use lift mechanism 340, suction andmagnet assembly 350, and gantry 360 so as to individually move thephotovoltaic module(s) onto support surface 330 using operationsanalogous in certain regards to those described above with reference toFIGS. 4A-4I. For example, installation vehicle 300 can position liftmechanism 340 and suction and magnet assembly 350 horizontally over aphotovoltaic module 400 disposed on a pallet or other outside surfaceusing gantry 360, can position suction and magnet assembly 350vertically so as to contact suction cup(s) 351 and magnet(s) 352 withpanel 410 of that photovoltaic module using lift mechanism 340, toposition suction and magnet assembly 350 vertically so as to raise thatphotovoltaic module to a sufficient height over the pallet and anyobstacles using lift mechanism 340, and to position lift mechanism 340and suction and magnet assembly 350 vertically so as to lower thatphotovoltaic module to support surface 330, all while maintainingsupport legs 401 in a stowed position using magnet(s) 352. Such aprocess can be repeated any suitable number of times so as to dispose asuitable number of photovoltaic modules 400 over support surface 330.Installation vehicle 330 then can be moved sufficiently close toinstallation site(s) for those photovoltaic modules, e.g., by moving theinstallation vehicle along first and second vehicle support surfaces ofan elongated rail, e.g., concrete rail, to which the photovoltaicmodules are to be installed.

Referring again to FIG. 5, exemplary method 500 also can include liftingthe photovoltaic module from the support surface while engaging amagnetic field with the support legs so as to maintain the support legsin a stowed position (step 502). For example, in the illustrativeembodiment described above with reference to FIGS. 4B-4D, lift mechanism340 can lower suction and magnet assembly 350 into contact with panel410 of photovoltaic module 400 so as to adhere suction cup(s) 351 topanel 410 and so as to engage the magnetic field of magnet(s) 352 withsupport legs 401 of the photovoltaic module so as to maintain thesupport legs in a stowed position, e.g., substantially parallel to panel410, e.g., disposed within a recess defined by frame 411. Additionally,as described above with reference to FIG. 4E, gantry 360 can move liftmechanism 340, suction and magnet assembly 350, and photovoltaic module400 to a suitable horizontal location, e.g., to a location disposedabove the installation site.

In the embodiment illustrated in FIG. 5, method 500 also can includedisengaging the magnetic field from the support legs of the liftedphotovoltaic module so as to release the support legs from the stowedposition to an installation position in which the support legs arerotated downwards relative to the stowed position (503). For example, inthe illustrative embodiment described above with reference to FIGS.4F-4H, lift mechanism 340 can rotate frame 355 or can move magnet(s)352, or can both rotate frame 355 and can move magnet(s) 352, so as todisengage the magnetic field of magnet(s) 352 from support legs 401,such that the support legs can rotate to an installation position, e.g.,can rotate under the force of gravity to a substantially verticalposition. Additionally, lift mechanism 340 optionally can partiallylower photovoltaic module 400 before releasing support legs 401 bydisengaging the magnetic field of magnet(s) 352.

Referring again to FIG. 5, exemplary method 500 also can includelowering the photovoltaic module to the installation site with thesupport legs in the installation position so as to install thephotovoltaic module at the installation site, the support legssupporting the panel at the installation site (504). For example, in theillustrative embodiment described above with reference to FIG. 4I, liftmechanism 340 can extend so as to lower photovoltaic module 400 to aninstallation site, e.g., can extend so as to contact legs 401 with theinstallation site. In one nonlimiting embodiment, lift mechanism 340 canextend so as to insert legs 401 into one or more recesses defined in anelongated rail upon which vehicle 300 can be disposed, e.g., can insertfirst and second legs 401 into a first recess of the elongated rail, andcan insert third and fourth legs 401 into a second recess of theelongated rail. The first and second recesses can be disposed betweenfirst and second vehicle support surfaces of the elongated rail, e.g.,surfaces upon which installation vehicle 300 is disposed. Optionally,the various surfaces and recesses of the elongated rail are integrallyformed with one another, e.g., can be formed of concrete. In oneexample, the installation site includes a concrete rail includinggrooves to which the support legs are aligned during the lowering.

Note that steps 502-504 illustrated in FIG. 5 can be repeated for anysuitable number of photovoltaic modules. For example, based upon aplurality of photovoltaic modules 400 being disposed on support surface330, installation vehicle sequentially can lift each of thosephotovoltaic modules from the support surface while engaging a magneticfield with the support legs of that module so as to maintain the supportlegs in the stowed position, can disengage the magnetic field from thesupport legs of that lifted photovoltaic module so as to release thesupport legs from the stowed position to an installation position inwhich the support legs are rotated downwards relative to the stowedposition, and can lower the photovoltaic module to a respectiveinstallation site with the support legs in the installation position soas to install the photovoltaic module at the installation site, thesupport legs supporting the panel of that photovoltaic module at theinstallation site.

According to yet another embodiment, a method for installing at aninstallation site a photovoltaic module including a panel and supportlegs includes disposing the photovoltaic module over a support surfacesuch that the support legs are in a stowed position; lifting thephotovoltaic module from a support surface while engaging a magneticfield with the support legs so as to maintain the support legs in thestowed position; disengaging the magnetic field from the support legs ofthe lifted photovoltaic module so as to release the support legs fromthe stowed position to an installation position in which the supportlegs are rotated downwards relative to the stowed position; and loweringthe photovoltaic module to the installation site with the support legsin the installation position so as to install the photovoltaic module atthe installation site, the support legs supporting the panel at theinstallation site.

In another example, the support surface is part of an installationvehicle. In another example, the installation vehicle includes a suctionand magnet assembly engaging the magnetic field and disengaging themagnetic field. In another example, the installation vehicle furtherincludes a gantry to which the suction and magnet assembly is coupled.In another example, the gantry moves the suction and magnet assemblyhorizontally relative to the support surface and the installation site.In another example, the installation vehicle further includes a liftmechanism that couples the suction and magnet assembly to the gantry andmoves the suction and magnet assembly vertically relative to the supportsurface and the installation site so as to perform the lifting andlowering. In another example, the suction and magnet assembly includes aplurality of suction cups that adhere to the panel of the photovoltaicmodule. In another example, engaging the magnetic field includescontacting a magnet to an upper surface of the panel during the applyingand the lifting. In another example, the method includes rotating thepanel to an installation angle, the rotating moving the support legsaway from the magnet so as to cause the disengaging of the magneticfield from the support legs. In another example, the method includesmoving the magnet away from the support legs so as to cause thedisengaging of the magnet from the support legs responsive to actuationof an actuator. In another example, the support surface is sized so asto accommodate a plurality of photovoltaic modules. In another example,the installation site includes a concrete rail including grooves towhich the support legs are aligned during the lowering.

According to another embodiment, a vehicle for installing at aninstallation site a photovoltaic module including a panel and aplurality of support legs includes a support surface over which thephotovoltaic module is disposable such that the support legs are in astowed position; a lift mechanism; and a suction and magnet assemblyincluding a magnet. The lift mechanism and the suction and magnetassembly can be configured to lift the photovoltaic module from thesupport surface while engaging a magnetic field of the magnet with thesupport legs so as to maintain the support legs in the stowed position.The suction and magnet assembly can be configured to disengage themagnetic field from the support legs of the lifted photovoltaic moduleso as to release the support legs from the stowed position to aninstallation position in which the support legs are rotated downwardsrelative to the stowed position. The lift mechanism and the suction andmagnet assembly can be configured to lower the photovoltaic module tothe installation site with the support legs in the installation positionso as to install the photovoltaic module at the installation site, thesupport legs supporting the panel at the installation site.

In another example, the suction and magnet assembly is coupled to agantry via the lift mechanism. In another example, the suction andmagnet assembly is horizontally movable relative to the support surfacevia the gantry. In another example, the suction and magnet assemblyincludes a plurality suction cups configured to adhere to the panel ofthe photovoltaic module. In another example, the magnet contacts thepanel during the lifting. In another example, the suction and magnetassembly are configured to rotate the panel to an installation angle,the rotating moving the support legs away from the magnet so as to causethe disengaging of the magnet from the support legs. In another example,the suction and magnet assembly are actuatable so as to move the magnetaway from the support legs so as to cause the disengaging of the magnetfrom the support legs. In another example, the support surface is sizedso as to accommodate a plurality of photovoltaic modules. In anotherexample, the installation site includes a concrete rail includinggrooves to which the support legs are aligned during the lowering.

Although specific embodiments of the present invention have beendescribed, it will be understood by those of skill in the art that thereare other embodiments that are equivalent to the described embodiments.For example, various embodiments and/or examples of the presentinvention can be combined. Accordingly, it is to be understood that theinvention is not to be limited by the specific illustrated embodiments,but only by the scope of the appended claims.

What is claimed:
 1. A vehicle for installing at an installation site aphotovoltaic module including a panel and a plurality of support legs,the vehicle including: a support surface over which the photovoltaicmodule is disposable such that the support legs are in a stowedposition; a lift mechanism; and a suction and magnet assembly includinga magnet, the lift mechanism and the suction and magnet assembly beingconfigured to lift the photovoltaic module from the support surfacewhile engaging a magnetic field of the magnet with the support legs soas to maintain the support legs in the stowed position, the suction andmagnet assembly further being configured to disengage the magnetic fieldfrom the support legs of the lifted photovoltaic module, saiddisengagement releasing the support legs from the stowed position to aninstallation position while the photovoltaic module remains lifted,wherein the support legs are rotated downwards in the installationposition relative to the stowed position, the lift mechanism and thesuction and magnet assembly further being configured to lower thephotovoltaic module to the installation site with the support legs inthe installation position so as to install the photovoltaic module atthe installation site, the support legs supporting the panel at theinstallation site.
 2. The vehicle of claim 1, wherein the suction andmagnet assembly is coupled to a gantry via the lift mechanism.
 3. Thevehicle of claim 2, wherein the suction and magnet assembly ishorizontally movable relative to the support surface via the gantry. 4.The vehicle of claim 1, wherein the suction and magnet assembly includesa plurality of suction cups configured to adhere to the panel of thephotovoltaic module.
 5. The vehicle of claim 1, wherein the magnetcontacts the panel during the lifting.
 6. The vehicle of claim 5, thesuction and magnet assembly being actuatable so as to move the magnetaway from the support legs so as to cause the disengaging of the magnetfrom the support legs.
 7. The vehicle of claim 1, wherein the supportsurface is sized so as to accommodate a plurality of photovoltaicmodules.
 8. The vehicle of claim 1, wherein the installation siteincludes a concrete rail including grooves to which the support legs arealigned during the lowering.